Online Verification of Impact-Force-Limiting Control for Physical Human-Robot Interaction
Stefan B. Liu,Matthias Althoff,Stefan B. Liu,Matthias Althoff
Humans must remain unharmed during their interaction with robots. We present a new method guaranteeing impact force limits when humans and robots share a workspace. Formal guarantees are realized using an online verification method, which plans and verifies fail-safe maneuvers through predicting reachable impact forces by considering all future possible scenarios. We model collisions as a coupled ...
